Automatic tea leaf collecting method

Abstract

The invention discloses an automatic tea leaf collection method, and belongs to the technical field of tea leaf collection. An automatic tea leaf collecting method comprises the steps that a mounting plate is fixed to a moving vehicle and moves between tea tree rows along with the vehicle, tea trees are scanned, leaf bud positions suitable for picking are found, a mechanical arm starts to rotate in multiple directions to adjust the angle, and a tea leaf picking assembly is accurately moved to the position close to target leaf buds so that it can be guaranteed that the picking position and the tea leaf angle are suitable for operation; the tea picking assembly is accurately moved to the position close to the target leaf bud to ensure that the picking position and the tea leaf angle are suitable for operation, the clamping conveying part of the tea picking assembly is started to clamp leaves or tender shoots, the clamping conveying part controls the clamping force and position, it is ensured that too many leaf stems cannot be clamped, and then the problem that the leaf stems are too long is avoided; the clamping conveying part starts to pull the tea leaves inwards, the appropriate distance of the tea leaves in the conveying direction is controlled, and the pulling action enables the tea leaves to be separated when the tea leaves are pulled to an appropriate breaking point through auxiliary force of the mechanical arm.

Description

Technical Field

[0001] The invention relates to the technical field of tea leaf collection, and in particular to an automated tea leaf collection method. Background Art

[0002] Tea leaf collection is an important part of the tea production process, which directly affects the quality and taste of the finished tea. Usually, tea leaf collection focuses on tender buds and one or two new leaves, because these parts are rich in tea polyphenols, amino acids and aromatic substances, which can enhance the taste and nutritional value of tea.

[0003] The patent with the publication number CN115777340A in the traditional technology discloses the field of automatic tea picking technology, specifically, a tea picking robot arm for tea picking, including a first mounting plate, a second mounting plate, a first arm, a second arm, a picking mechanism and a collection box, the mounting plate can be mounted on the lower part of the drone, the second mounting plate is rotatably arranged at the lower part of the first mounting plate, side plates are fixed on both sides of the lower part of the second mounting plate, one end of the first arm is rotatably arranged between the two side plates, one end of the second arm is rotatably arranged at one end of the first arm away from the side plate, the second arm is rotatably provided with an articulated frame away from one end of the first arm, and a connecting plate is fixed on one side of the articulated frame, the picking mechanism is mounted on the connecting plate, one side of one side plate is bolted with a third motor, and one side of the other side plate is bolted with a second motor. The present invention realizes fully automatic picking, which greatly improves efficiency and saves labor costs compared with traditional manual picking.

[0004] However, there are some problems with traditional technology: the traditional device uses suction holes and a motor to twist the picking head to pick tea leaves, which can easily cause too many tea leaf stems to be sucked in, causing the tea leaf stems to be too long when cut, affecting tea processing and requiring secondary pruning of the picked tea leaves. Summary of the invention

[0005] The purpose of the present invention is to solve the problem in the prior art that the leaf stems of tea leaves are too long, which affects the tea processing and requires secondary pruning of the picked tea leaves, and to propose an automated tea leaf collection method.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: An automated tea-collecting method comprises a mounting plate fixed on the upper part of a moving component, a mechanical arm for multi-directional rotation is fixedly mounted on the lower part of the mounting plate, a tea-picking component is fixedly mounted on the moving unit of the mechanical arm, wherein the tea-picking component is provided with a clamping and transmission part, and the clamping and transmission part of the tea-picking component is used for clamping and transmitting tea leaves and cooperating with the mechanical arm to perform a pulling and tea-picking action.

[0007] In order to realize the driving of the robot arm to perform the pulling and tea picking action, preferably, the moving unit of the robot arm is fixedly installed with a driving motor, and the output end of the driving motor is fixedly connected with a linkage rod.

[0008] In order to realize the collection of the collected tea leaves by negative pressure suction, the tea collection method further includes a transmission component, which includes a collection shell, a cavity for temporarily storing picked tea leaves is opened inside the collection shell, and a transmission tube for connecting to a tea picking adsorption machine is fixedly connected to the upper part of one side of the collection shell, and the transmission tube is connected to the collection shell.

[0009] In order to achieve the clamping and transmission of tea leaves, the tea picking assembly further includes a first roller, which is rotatably installed on the lower part of the collecting shell, and a second roller is rotatably installed on the upper part of the collecting shell, and a gap for clamping and transmitting tea leaves is provided between the first roller and the second roller.

[0010] In order to realize the driving of the first roller and the combined transmission of the second roller, further, a third gear is fixedly connected to one side of the first roller, a fourth gear is fixedly connected to one side of the second roller, and the third gear is fixedly connected to the linkage rod.

[0011] In order to realize the lateral rotation of the robot arm, further, the robot arm includes a first motor, the first motor is fixedly installed at the lower part of the mounting plate, and the output end of the first motor passes through the mounting plate and is fixedly connected to a steering seat.

[0012] In order to realize the first longitudinal rotation of the robot arm, further, a first steering arm is rotatably mounted on the lower part of the steering seat, a second motor is fixedly mounted on one side of the steering seat, and an output end of the second motor passes through the steering seat and is fixedly connected to the first steering arm.

[0013] In order to realize the second longitudinal rotation of the robot arm, further, a second steering arm is rotatably installed at the lower part of the first steering arm, a third motor is fixedly installed on one side of the first steering arm, and an output end of the third motor passes through the first steering arm and is fixedly connected to the second steering arm.

[0014] In order to realize the third longitudinal rotation of the robot arm, a steering support is further installed on the side of the second steering arm that is rotatably away from the first steering arm, and a fourth motor is fixedly installed on one side of the second steering arm. The output end of the fourth motor passes through the second steering arm and is fixedly connected to the steering support, and the drive motor is fixed on the steering support.

[0015] In order to achieve the effect of simulating real-life picking, when the first roller and the second roller clamp and pull the tea leaves, the collecting shell is flipped at the same time to pull the tea leaves in a direction perpendicular to the resin of the tea tree, further avoiding the collection of excess leaf stems and ensuring the picking quality of the tea leaves. Furthermore, the tea collection method also includes a steering assembly, which includes a first gear, the first gear is fixedly connected to the outside of the linkage rod, the first gear is meshed with the second gear, the second gear is rotatably mounted on one side of the steering support, the second gear is fixedly connected to one side with a small gear, the small gear is meshed with a large gear, the large gear is sleeved on the outside of the linkage rod, a support frame is fixedly mounted on the upper part of the steering support, the large gear is rotatably mounted on the lower part of the support frame, and one side of the large gear is fixedly connected to the collecting shell.

[0016] Compared with the prior art, the present invention provides an automated tea collection method, which has the following beneficial effects: 1. This automated tea collection method is fixed on a mobile vehicle through a mounting plate, and moves with the vehicle between the rows of tea trees, scanning the tea trees and looking for leaf buds suitable for picking. The recognition system of the mobile vehicle locks the precise position and angle of the target leaf buds through a visual sensor, and the robotic arm begins to rotate in multiple directions to adjust the angle, and moves the tea picking component precisely to the vicinity of the target leaf buds to ensure that the picking position and the angle of the tea leaves are suitable for operation. The clamping transmission part of the tea picking component is started to clamp the leaves or buds. The clamping transmission part controls the clamping force and position to ensure that too many leaf stems are not clamped, thereby avoiding the problem of too long leaf stems. After clamping, the clamping transmission part begins to pull the tea leaves inward to control the appropriate distance of the tea leaves in the transmission direction. This pulling action uses the auxiliary force of the robotic arm to make the tea leaves naturally separate when they are pulled to the appropriate breakpoint, rather than the traditional direct adsorption cutting, which can effectively avoid the problem of picking too many or too long leaf stems.

[0017] 2. The automated tea collection method is fixed to the outside of the linkage rod through the first gear, which rotates with the linkage rod to transmit power to the meshed second gear. A pinion is fixedly connected to one side of the second gear, and the pinion meshes with the large gear. In this way, when the second gear rotates, the large gear also rotates with the drive of the pinion. The large gear is fixedly installed at the lower part of the support frame and is fixedly connected to the collection shell. When the large gear rotates, it directly drives the collection shell to flip synchronously, realizing the tea picking action perpendicular to the direction of the tea tree. The pulling action after flipping simulates the upward pulling technique in manual picking. In this way, it can better adapt to the growth direction of tea leaves, reduce the picking of too long leaf stems during picking, and ensure the picking quality. The collection shell keeps the tea leaves stable during the flipping process, prevents excess branches and leaves from entering the clamping gap, makes the tea picking action more accurate, and further improves the picking efficiency and quality. The power of the driving motor is transmitted step by step through the linkage rod and gear transmission, and finally makes the clamping and pulling of the first roller and the second roller coordinated and synchronized with the flipping of the collection shell, forming an action mode similar to manual picking.

[0018] The parts not involved in the device are the same as the prior art or can be implemented by the prior art. The transmission part of the present invention begins to pull the tea leaves inward, controlling the appropriate distance of the tea leaves in the transmission direction. This pulling action, through the auxiliary force of the mechanical arm, allows the tea leaves to separate naturally when they are pulled to the appropriate breaking point, rather than the traditional direct adsorption cutting. This can effectively avoid the problem of picking too many or too long leaf stems. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of an automated tea collection method proposed by the present invention; Figure 2 A schematic diagram of the structure of a mechanical arm for an automated tea collection method proposed by the present invention; Figure 3 A schematic diagram of the structure of a driving motor for an automated tea collection method proposed by the present invention; Figure 4 A schematic diagram of the structure of a steering component of an automated tea collection method proposed by the present invention; Figure 5 A schematic diagram of the structure of a steering support for an automated tea collection method proposed by the present invention; Figure 6 A schematic diagram of a collection shell structure of an automated tea collection method proposed by the present invention; Figure 7 This is a schematic diagram of the first gear structure of an automated tea collection method proposed by the present invention; Figure 8 This is a schematic diagram of the structure of a tea picking component of an automated tea picking method proposed by the present invention.

[0020] In the figure: 1. Mounting plate; 2. Robotic arm; 3. Steering assembly; 4. Tea picking assembly; 5. Transmission assembly; 6. Drive motor; 7. Linkage rod; 201, first motor; 202, steering seat; 203, second motor; 204, first steering arm; 205, third motor; 206, second steering arm; 207, fourth motor; 208, steering support; 301, support frame; 302, first gear; 303, second gear; 304, small gear; 305, large gear; 401, third gear; 402, fourth gear; 403, first rotating roller; 404, second rotating roller; 501, collecting shell; 502, transmission pipe. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Example

[0023] Reference Figure 1-Figure 8 An automated tea picking method includes a mounting plate 1 fixed on the upper part of a moving component, a mechanical arm 2 for multi-directional rotation is fixedly mounted on the lower part of the mounting plate 1, a tea picking component 4 is fixedly mounted on the moving unit of the mechanical arm 2, wherein the tea picking component 4 has a clamping and transmission part, and the clamping and transmission part of the tea picking component 4 is used for clamping and transmitting tea leaves and cooperating with the mechanical arm 2 to perform a pulling and tea picking action.

[0024] In the above-mentioned automated tea picking method, the mounting plate 1 is fixed on a mobile vehicle and moves with the vehicle between the rows of tea trees, scanning the tea trees and finding the leaf buds suitable for picking. The recognition system of the mobile vehicle locks the precise position and angle of the target leaf buds through the visual sensor, and the robotic arm 2 starts to rotate in multiple directions to adjust the angle, and accurately moves the tea picking component 4 to the vicinity of the target leaf buds to ensure that the picking position and the angle of the tea leaves are suitable for the operation.

[0025] After reaching the target position, the clamping transmission part of the tea picking component 4 is activated to clamp the leaves or buds. The clamping transmission part controls the clamping force and position to ensure that too many leaf stems are not clamped, thereby avoiding the problem of too long leaf stems. After clamping, the clamping transmission part starts to pull the tea leaves inward to control the appropriate distance of the tea leaves in the transmission direction. This pulling action is assisted by the mechanical arm 2, so that the tea leaves are naturally separated when they are pulled to the appropriate breakpoint, rather than the traditional direct adsorption cutting. This can effectively avoid the problem of picking too many or too long leaf stems.

[0026] After the tea leaves are successfully torn off, the tea picking assembly 4 transfers the tea leaves to the collection container. At this time, the tea picking assembly 4 releases the clamping transmission part and is ready for the next plucking.

[0027] In this embodiment, in order to realize the collection of the collected tea leaves by negative pressure suction, the tea collection method also includes a transmission component 5, which includes a collection shell 501. The collection shell 501 has a cavity for temporarily storing picked tea leaves inside. A transmission tube 502 for connecting to a tea picking adsorption machine is fixedly connected to the upper part of one side of the collection shell 501, and the transmission tube 502 is connected to the collection shell 501.

[0028] In order to achieve the goal of sucking out the collected tea leaves through negative pressure and collecting them effectively, the automated tea collection device needs to be equipped with a transmission component 5. The collection shell 501 is a closed container with a cavity inside for temporarily storing the picked tea leaves, ensuring that the tea leaves are not polluted by the outside world and are not affected by the environment during the transmission and temporary storage process. The picked tea leaves are temporarily stored to prevent the tea leaves from losing freshness due to environmental changes during the transmission process.

[0029] One end of the transmission tube 502 is fixedly connected to the upper part of one side of the collection shell 501, and the other end is connected to the suction machine for picking tea. The transmission tube 502 has a certain flexibility and a reserved length to adapt to the multi-directional rotation and movement of the robot arm 2. When the specific picking action is completed, the negative pressure sucks the tea leaves out of the collection shell 501 through the transmission tube 502 and transmits them to the storage unit.

[0030] In this embodiment, in order to realize the driving of the mechanical arm 2 to pull and pick tea leaves, the mobile unit of the mechanical arm 2 is fixedly installed with a driving motor 6, and the output end of the driving motor 6 is fixedly connected with a linkage rod 7. In order to realize the clamping and transmission of tea leaves, the tea picking assembly 4 includes a first roller 403, which is rotatably installed at the lower part of the collection shell 501, and a second roller 404 is rotatably installed at the upper part of the collection shell 501, and a gap for clamping and transmitting tea leaves is provided between the first roller 403 and the second roller 404. In order to realize the driving of the first roller 403 and the combined transmission of the second roller 404, a third gear 401 is fixedly connected to one side of the first roller 403, and a fourth gear 402 is fixedly connected to one side of the second roller 404, and the third gear 401 is fixedly connected to the linkage rod 7.

[0031] In order to realize the pulling and picking action of the mechanical arm 2 and the clamping and transmission of the tea leaves in the automated tea picking device, the system works in coordination through the driving motor 6, the linkage rod 7, the first roller 403 and the second roller 404: The driving motor 6 is fixedly mounted on the mobile unit of the mechanical arm 2, and serves as a power source to drive the mechanical arm 2 to pull the tea leaves. The linkage rod 7 transmits the rotational power of the motor to the first roller 403 of the tea picking assembly 4. The first roller 403 is located at the lower part of the collecting shell 501, and the second roller 404 is located at the upper part, and a gap for clamping the tea leaves is formed between the two. The width of the gap is adapted according to the thickness of the tea leaves to ensure that the clamping does not damage the tea leaves. The third gear 401 is meshed with the fourth gear 402, and the rotation of the first roller 403 will synchronously drive the second roller 404 to rotate synchronously with the first roller 403. This design ensures that the two rollers always remain in a clamped state to transmit tea leaves and avoid the failure of the clamping effect due to asynchrony.

[0032] When the plucked tea leaves enter the gap between the first roller 403 and the second roller 404, the first roller 403 and the second roller 404 clamp the tea leaves tightly to ensure that the tea leaves will not fall off or slip during the transmission process.

[0033] In this embodiment, in order to realize the lateral rotation of the robot arm 2, the robot arm 2 includes a first motor 201, which is fixedly mounted at the bottom of the mounting plate 1, and the output end of the first motor 201 passes through the mounting plate 1 and is fixedly connected to the steering seat 202. In order to realize the first longitudinal rotation of the robot arm 2, a first steering arm 204 is rotatably mounted at the bottom of the steering seat 202, a second motor 203 is fixedly mounted on one side of the steering seat 202, and the output end of the second motor 203 passes through the steering seat 202 and is fixedly connected to the first steering arm 204. In order to realize the second longitudinal rotation of the robot arm 2, a second steering arm 206 is rotatably mounted at the bottom of the first steering arm 204, a third motor 205 is fixedly mounted on one side of the first steering arm 204, and the output end of the third motor 205 passes through the first steering arm 204 and is fixedly connected to the second steering arm 206. In order to realize the third longitudinal rotation of the robot arm 2, a steering support 208 is rotatably installed on the side of the second steering arm 206 away from the first steering arm 204, and a fourth motor 207 is fixedly installed on one side of the second steering arm 206. The output end of the fourth motor 207 passes through the second steering arm 206 and is fixedly connected to the steering support 208. The drive motor 6 is fixed on the steering support 208.

[0034] The first steering arm 204 is rotatably mounted at the lower part of the steering seat 202, so that the first steering arm 204 can rotate around the longitudinal axis under the drive of the second motor 203. The second motor 203 is fixed to one side of the steering seat 202, and its output end passes through the steering seat 202 and is fixedly connected to the first steering arm 204. This design enables the second motor 203 to directly drive the first steering arm 204 to rotate longitudinally. When the second motor 203 is running, the first steering arm 204 rotates around the steering seat 202, realizing the first longitudinal adjustment of the robot arm 2, and providing a basis for positioning the robot arm 2 at different angles.

[0035] The second steering arm 206 is rotatably mounted at the lower part of the first steering arm 204, so that the second steering arm 206 can further realize longitudinal adjustment under the control of the third motor 205. The third motor 205 is fixedly mounted on one side of the first steering arm 204, and its output end passes through the first steering arm 204 and is connected to the second steering arm 206. The rotation of the third motor 205 will directly drive the second steering arm 206 to rotate. When the third motor 205 is running, the second steering arm 206 rotates longitudinally with the first steering arm 204 as the fulcrum, so that the robot arm 2 can achieve a larger range of motion to meet the needs of tea picking at different heights and positions.

[0036] The far end of the second steering arm 206 is rotatably mounted with a steering support 208, so that the robot arm 2 can complete the last level of rotation control through the steering support 208. The fourth motor 207 is fixedly mounted on one side of the second steering arm 206, and its output end passes through the second steering arm 206 and is fixedly connected to the steering support 208. The power output of the fourth motor 207 can drive the rotation of the steering support 208, thereby providing the robot arm 2 with more flexible terminal adjustment capabilities.

[0037] The first motor 201 is fixedly mounted on the lower part of the mounting plate 1, and the output end passes through the mounting plate 1 and is connected to the steering seat 202 to complete the lateral rotation control. The second motor 203, the third motor 205 and the fourth motor 207 are started in sequence to drive the first steering arm 204, the second steering arm 206 and the steering support 208 respectively, so as to realize the precise adjustment of the robot arm 2 in all directions. After the adjustment of the steering support 208 is completed, the driving motor 6 controls the tea picking component 4 to perform the picking action, and completes the tea collection by clamping and pulling. Furthermore, in order to achieve the effect of simulating real-life picking, when the first roller 403 and the second roller 404 clamp and pull the tea leaves, the collecting shell 501 is flipped at the same time to pull the tea leaves in a direction perpendicular to the resin of the tea tree, further avoiding the collection of excess leaf stems and ensuring the picking quality of the tea leaves. The tea collection method also includes a steering assembly 3, the steering assembly 3 includes a first gear 302, the linkage rod 7 is fixedly connected to the first gear 302 on the outside, the first gear 302 is meshedly connected to the second gear 303, the second gear 303 is rotatably mounted on one side of the steering support 208, the second gear 303 is fixedly connected to a small gear 304 on one side, the small gear 304 is meshedly connected to a large gear 305, the large gear 305 is sleeved on the outside of the linkage rod 7, the steering support 208 is fixedly mounted with a support frame 301 on the upper part, the large gear 305 is rotatably mounted on the lower part of the support frame 301, and one side of the large gear 305 is fixedly connected to the collecting shell 501.

[0038] The first and second rollers 404: When the first roller 403 and the second roller 404 cooperate to clamp the tea leaves, they firmly clamp the tea leaves therebetween to ensure that the tea leaves do not slip out during the pulling process.

[0039] The driving motor 6 drives the linkage rod 7 to rotate, and transmits power to the roller through the transmission system of the first gear 302 and the second gear 303, so that the first roller 403 can rotate, thereby pulling the tea leaves off the branches. This process simulates the clamping and pulling effect of fingers in manual picking, which helps to achieve accurate picking.

[0040] In the process of clamping and pulling, in order to simulate the "vertical upward" pulling action of manual tea picking, a flipping mechanism of the collection shell 501 is designed. The large gear 305 is connected to the support frame 301 and the collection shell 501, and the rotation process is transmitted to the collection shell 501 through the steering assembly 3, thereby driving it to flip upward.

[0041] When the collecting shell 501 turns over, the tea leaves are pulled vertically under the clamping of the first roller 403 and the second roller 404. This action enables the tea picking assembly 4 to pick tea leaves along the branches of the tea tree, effectively avoiding unnecessary leaf stems from being picked during the picking process.

[0042] The first gear 302 is fixed to the outside of the linkage rod 7, rotates with the linkage rod 7, and transmits power to the meshed second gear 303. One side of the second gear 303 is fixedly connected to the pinion 304, and the pinion 304 is meshed with the large gear 305. In this way, when the second gear 303 rotates, the large gear 305 also rotates with the pinion 304. The large gear 305 is fixedly installed at the bottom of the support frame 301 and is fixedly connected to the collection shell 501. When the large gear 305 rotates, it directly drives the collection shell 501 to turn synchronously, realizing the tea picking action perpendicular to the direction of the tea tree.

[0043] The pulling action after flipping simulates the upward pulling technique in manual picking. This can better adapt to the growth direction of tea leaves, reduce the number of too long leaf stems picked during picking, and ensure the picking quality. The collecting shell 501 keeps the tea leaves stable during the flipping process, preventing excess branches and leaves from entering the clamping gap, making the tea picking action more precise, and further improving the picking efficiency and quality.

[0044] The power of the driving motor 6 is transmitted step by step through the linkage rod 7 and the gear transmission, and finally the clamping and pulling of the first roller 403 and the second roller 404 are coordinated and synchronized with the turning of the collection shell 501, forming an action mode similar to manual picking.

[0045] In the present invention, the tea picking component 4 is precisely moved to the vicinity of the target leaf bud to ensure that the picking position and the angle of the tea leaves are suitable for the operation, and the clamping transmission part of the tea picking component 4 is started to clamp the leaves or buds. The clamping transmission part controls the clamping force and position to ensure that too many leaf stems are not clamped, thereby avoiding the problem of too long leaf stems. After clamping, the clamping transmission part starts to pull the tea leaves inward to control the appropriate distance of the tea leaves in the transmission direction. This pulling action, through the auxiliary force of the mechanical arm 2, allows the tea leaves to separate naturally when they are pulled to the appropriate breakpoint, rather than the traditional direct adsorption cutting, which can effectively avoid the problem of picking too many or too long leaf stems.

[0046] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automated tea collection method, comprising a mounting plate (1) for fixing on the upper part of a moving assembly, characterized in that: A mechanical arm (2) for multi-directional rotation is fixedly mounted on the lower part of the mounting plate (1), and a tea picking assembly (4) is fixedly mounted on the moving unit of the mechanical arm (2). The tea picking component (4) is provided with a clamping and transmission part, and the clamping and transmission part of the tea picking component (4) is used for clamping and transmitting tea leaves and cooperating with the mechanical arm (2) to perform a pulling and tea picking action.

2. An automated tea collection method according to claim 1, characterized in that: A driving motor (6) is fixedly mounted on the moving unit of the mechanical arm (2), and a linkage rod (7) is fixedly connected to the output end of the driving motor (6).

3. An automated tea collection method according to claim 2, characterized in that: The tea leaf collecting method further comprises a transmission component (5), wherein the transmission component (5) comprises a collecting shell (501), wherein a cavity for temporarily storing picked tea leaves is provided inside the collecting shell (501), and a transmission tube (502) for connecting to a tea picking adsorption machine is fixedly connected to an upper portion of one side of the collecting shell (501), wherein the transmission tube (502) is connected to the collecting shell (501).

4. The automatic tea collection method according to claim 3, characterized in that: The tea picking assembly (4) comprises a first rotating roller (403), the first rotating roller (403) being rotatably mounted on the lower part of the collecting shell (501), a second rotating roller (404) being rotatably mounted on the upper part of the collecting shell (501), and a gap for clamping and transmitting tea leaves being provided between the first rotating roller (403) and the second rotating roller (404).

5. An automated tea collection method according to claim 4, characterized in that: A third gear (401) is fixedly connected to one side of the first rotating roller (403), a fourth gear (402) is fixedly connected to one side of the second rotating roller (404), and the third gear (401) is fixedly connected to the linkage rod (7).

6. The automatic tea collection method according to claim 3, characterized in that: The mechanical arm (2) comprises a first motor (201), the first motor (201) being fixedly mounted on the lower part of the mounting plate (1), and an output end of the first motor (201) passing through the mounting plate (1) and fixedly connected to a steering seat (202).

7. An automated tea collection method according to claim 6, characterized in that: A first steering arm (204) is rotatably mounted on the lower part of the steering seat (202), a second motor (203) is fixedly mounted on one side of the steering seat (202), and an output end of the second motor (203) passes through the steering seat (202) and is fixedly connected to the first steering arm (204).

8. An automated tea collection method according to claim 7, characterized in that: A second steering arm (206) is rotatably mounted on the lower portion of the first steering arm (204), a third motor (205) is fixedly mounted on one side of the first steering arm (204), and an output end of the third motor (205) passes through the first steering arm (204) and is fixedly connected to the second steering arm (206).

9. An automated tea collection method according to claim 8, characterized in that: A steering support (208) is rotatably mounted on a side of the second steering arm (206) away from the first steering arm (204); a fourth motor (207) is fixedly mounted on one side of the second steering arm (206); an output end of the fourth motor (207) passes through the second steering arm (206) and is fixedly connected to the steering support (208); and the drive motor (6) is fixed on the steering support (208).

10. An automated tea collection method according to claim 9, characterized in that: The tea leaf collecting method further comprises a steering assembly (3), the steering assembly (3) comprising a first gear (302), the linkage rod (7) being fixedly connected to the outside of the first gear (302), the first gear (302) being meshingly connected to a second gear (303), the second gear (303) being rotatably mounted on one side of the steering support (208), the second gear (303) being fixedly connected to one side of a small gear (304), the small gear (304) being meshingly connected to a large gear (305), the large gear (305) being sleeved on the outside of the linkage rod (7), the steering support (208) being fixedly mounted with a support frame (301) on the top, the large gear (305) being rotatably mounted on the bottom of the support frame (301), and one side of the large gear (305) being fixedly connected to the collection shell (501).

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